killall rviz
docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
docker start slam
docker exec slam service ssh start

reset
pushd ~/gamma/src/cartographer/
git add .
git commit -m "modify cartographer"
git push origin master -f
popd

ssh root@172.17.0.2 'killall roslaunch && killall slam_node && killall test_node'
ssh root@172.17.0.2 'cd /root/gamma/src/cartographer/ &&git reset --hard origin/master && git pull origin master && sync'
ssh root@172.17.0.2 'source /opt/ros/noetic/setup.bash && cd /root/gamma/ && catkin_make -DBUILD_SLAM=true -DBUILD_TEST=false -j32'
ssh root@172.17.0.2 'source /root/gamma/devel/setup.bash && roslaunch cartographer slam.launch' &
sleep 3
rviz &
sleep 3
source /opt/ros/noetic/setup.bash 
source ~/gamma/devel/setup.bash 
~/gamma/src/cartographer/scripts/command_load.sh